Cellular vehicle-to-everything, cv2x, communication method, storage medium, electronic device, and computer program product

Abstract

Embodiments of the present application provide a cellular vehicle-to-everything (CV2X) communication method, a storage medium, an electronic device and a computer program product. The method comprises: receiving and parsing a data packet by a transceiving processing module to obtain a to-be-processed message and a message format of the to-be-processed message; parsing the to-be-processed message by a message processing module corresponding to the message format to obtain a message payload; extracting a data item related to a vehicle-to-everything (V2X) protocol from the message payload by a fusion processing module; and encapsulating the data item by a V2X protocol stack module to obtain a V2X message. By using the message processing module to parse the message and the fusion processing module to extract the V2X protocol data item, the message format and the data item are decoupled, and then the V2X message is obtained by the CV2X protocol module, so that the communication mode finally provided meets the message transceiving requirements defined by the CV2X standard. Therefore, the problems of high hardware cost and high system coupling can be solved, and the effects of reducing the hardware cost and reducing the system coupling are achieved.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a cellular vehicle-to-everything (CV2X) communication method, storage medium, electronic device, and computer program product. Background Technology

[0002] Cellular Vehicle-to-Everything (CV2X) is a system network that enables wireless communication and information exchange between vehicles, between vehicles and people, between vehicles and road infrastructure, and between vehicles and networks. It is an integrated network that can realize intelligent traffic management, intelligent dynamic information services, and intelligent vehicle control.

[0003] CV2X is characterized by technology integration, information sharing, and industry convergence. CV2X organically utilizes various advanced technologies such as positioning, sensor, communication, and internet technologies, thereby generating numerous value-added services. Notably, the control plane signaling and user plane data of CV2X functions are transmitted via the PC5 protocol, demonstrating that PC5 technology is one of the key technologies of CV2X and a crucial channel for realizing CV2X message transmission.

[0004] However, the relevant technologies require the use of chips / modules that support PC5 functionality to perform CV2X communication, which results in high hardware costs and high system coupling.

[0005] In conclusion, there is still no good solution to the above problems. Summary of the Invention

[0006] This application provides a cellular vehicle-to-everything (CV2X) communication method, storage medium, electronic device, and computer program product to at least solve the problems of high hardware cost and high system coupling in related technologies, which require the use of chips / modules that support PC5 functionality for CV2X communication.

[0007] According to one embodiment of this application, a cellular vehicle-to-everything (V2X) communication method is provided, comprising: receiving and parsing data packets through a transceiver processing module to obtain a message to be processed and a message format of the message to be processed; parsing the message to be processed through a message processing module corresponding to the message format to obtain a message payload; extracting data items related to the V2X protocol from the message payload through a fusion processing module; and encapsulating the data items through a V2X protocol stack module to obtain a V2X message.

[0008] According to another embodiment of this application, a vehicle terminal is provided, including: a transceiver processing module for receiving and parsing data packets to obtain a message to be processed and a message format of the message to be processed; a message processing module for parsing the message to be processed in the corresponding message format to obtain a message payload; a fusion processing module for extracting data items related to the vehicle-to-everything (V2X) protocol from the message payload; and a V2X protocol stack module for encapsulating data items to obtain V2X messages.

[0009] According to yet another embodiment of this application, a computer-readable storage medium is also provided, which stores a computer program, wherein the computer program, when executed by a processor, implements the steps in any of the above method embodiments.

[0010] According to yet another embodiment of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in any of the above method embodiments.

[0011] According to yet another embodiment of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0012] Through the embodiments described above in this application, by using the message processing module to parse the message and the fusion processing module to extract V2X protocol data items, the message format and data items can be decoupled. The extracted data items are then encapsulated by the CV2X protocol module to obtain the V2X message, ensuring that the final communication method conforms to the message transmission and reception requirements defined by the CV2X standard. Therefore, the problems of high hardware cost and high system coupling can be solved, achieving the effect of reducing hardware cost and system coupling. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the system structure of an autonomous driving application vehicle according to an embodiment of this application;

[0014] Figure 2 This is a hardware structure block diagram of a mobile terminal for a cellular vehicle-to-everything (CV2X) communication method according to an embodiment of this application.

[0015] Figure 3 This is a flowchart of a non-cellular vehicle-to-everything (CV2X) communication method according to an embodiment of this application;

[0016] Figure 4 This is a schematic diagram of the MQTT data item format according to an embodiment of this application;

[0017] Figure 5 This is a structural block diagram of a vehicle terminal according to an embodiment of this application;

[0018] Figure 6 This is a flowchart illustrating the process of using converged communication software components to process data packets to obtain V2X messages in one embodiment of this application;

[0019] Figure 7 This is a schematic diagram of the process of receiving and sending data using integrated hardware and software components in one embodiment of this application;

[0020] Figure 8 This is a schematic diagram of the process by which a converged communication software component processes data packets received from a converged communication hardware component to obtain V2X information, according to one embodiment of this application. Detailed Implementation

[0021] The embodiments of this application will be described in detail below with reference to the accompanying drawings and examples.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0023] Current transportation faces three major challenges: traffic safety, travel efficiency, and environmental pollution. Vehicle-to-Everything (V2X) communication technology can overcome these challenges and is a crucial breakthrough technology. V2X is mainly divided into three categories: vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, and vehicle-to-pedestrian (V2P) communication. Cellular vehicle-to-everything (CV2X) technology is an important implementation of V2X communication. Utilizing CV2X technology to build a complete vehicle-road cooperative information processing system can effectively solve the aforementioned application pain points.

[0024] The embodiments of this application can be widely applied to smart highways, autonomous driving, and driver assistance systems. For example, it can be applied to autonomous driving scenarios, including autonomous vehicles and other V2X devices, where the autonomous vehicle communicates with other V2X devices via a V2X communication terminal. Figure 1 This is a schematic diagram of the system structure of an autonomous driving application vehicle according to an embodiment of this application, such as... Figure 1As shown, a typical autonomous driving application vehicle includes a V2X communication terminal 102, an autonomous driving control terminal 104, and modules such as radar 106, camera 108, lidar 110, and positioning system 112. For example, the autonomous driving control terminal may include a perception unit, a decision-making unit, a planning unit, and a control unit. The V2X communication terminal 102 is responsible for providing various types of information from other V2X devices, while the autonomous driving control terminal 104 is responsible for judging, identifying, analyzing, and making decisions based on the information, and determining whether to intervene in vehicle operation based on the decision results.

[0025] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 2 This is a hardware structure block diagram of the mobile terminal used in the embodiments of the method of this application. For example... Figure 2 As shown, a mobile terminal may include one or more ( Figure 2 Only one is shown in the diagram. A processor 202 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 204 for storing data are also shown. The mobile terminal may further include a transmission device 206 for communication functions and an input / output device 208. Those skilled in the art will understand that... Figure 2 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown.

[0026] The memory 204 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the cellular vehicle-to-everything (CV2X) communication method in this embodiment. The processor 202 executes various functional applications and data processing by running the computer program stored in the memory 204, thus implementing the aforementioned method. The memory 204 may include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 204 may further include memory remotely located relative to the processor 202, and these remote memories can be connected to the mobile terminal via a network.

[0027] The transmission device 206 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 206 includes a Network Interface Controller (NIC), which can connect to other devices via a base station to communicate with the cellular vehicle network. In another example, the transmission device 206 may be a Radio Frequency (RF) module used for wireless communication with the cellular vehicle network.

[0028] Currently, industry-compliant CV2X communication solutions all require the use of chips / modules supporting the PC5 protocol. There are two typical solutions for implementing CV2X communication: 1. Modem baseband chipset integrating PC5. An example is Qualcomm's 5G automotive modem chip. However, in CV2X applications, its related functions operate on a communication channel based on the PC5 interface. 2. Independent chips or modules supporting PC5. An example is the Autotalk chip. In both of these solutions, CV2X message transmission is within the PC5 channel, and upper-layer applications cannot make any modifications; they can only passively use it, resulting in high hardware costs and high system coupling. The high hardware cost is reflected in the fact that chips supporting PC5 functionality cost at least twice as much as chips supporting the same UU (User-Unique User Interface). The high system coupling is reflected in the fact that once a chip supporting PC5 functionality is selected, the entire product will be bound to that chip throughout its lifecycle, resulting in a strong binding and high coupling between the overall system and a single component, which is very detrimental to the decoupling design of related components. Furthermore, it will limit the iteration and updates of CV2X services. CV2X services require continuous iteration based on different use cases; if a specific CV2X chip is used, service updates will be limited by the chip and cannot be iterated in a timely manner. These CV2X services include, but are not limited to, timing services, perception data sharing services, and onboard unit (OBU) device tracking services.

[0029] This application provides a cellular vehicle-to-everything (CV2X) communication method. Figure 3 This is a flowchart of a cellular vehicle-to-everything (CV2X) communication method according to an embodiment of this application, as shown below. Figure 3 As shown, the process includes the following steps:

[0030] Step S302: The data packet is received and parsed by the transceiver processing module to obtain the message to be processed and the message format of the message to be processed;

[0031] Step S304: The message to be processed is parsed by the message processing module corresponding to the message format to obtain the message payload;

[0032] Step S306: Extract data items related to the V2X protocol from the message payload using the fusion processing module;

[0033] Step S308: The data item is encapsulated by the V2X protocol stack module to obtain a V2X message.

[0034] Through the above embodiments of this application, by using the message processing module to parse messages and the fusion processing module to extract V2X protocol data items, the message format and data items can be decoupled. Then, the extracted data items are encapsulated by the CV2X protocol module to obtain the V2X message, ensuring that the final communication method conforms to the message transmission and reception requirements defined by the CV2X standard. Therefore, the problems of high hardware cost and high system coupling can be solved, achieving the effect of expanding the application scope of CV2X chips to reduce hardware costs and system coupling. Specifically, expanding the application scope of CV2X chips means that the implementation of the embodiments of this application does not require the selection of certain specific CV2X chips; that is, any chip can execute the embodiments of this application. Based on this, hardware costs are greatly reduced and system coupling is lowered.

[0035] In some embodiments, the message format includes PC5 format and UU format. PC5 is a direct communication interface defined in the 3rd Generation Partnership Project (3GPP) standard, allowing devices to communicate directly without a base station. It is mainly used for direct data transmission in V2X scenarios and can support real-time information exchange between vehicles in high-speed motion scenarios. The UU interface refers to the interface between the user equipment and the base station, i.e., the traditional cellular network communication interface, used for data transmission between the user equipment and the network.

[0036] In some embodiments, step S304 includes at least one of the following steps:

[0037] In step S3042, in response to the message format being the PC5 format, the transceiver processing module sends the message to be processed to the PC5 message processing module, and the PC5 message processing module parses the message to be processed to obtain the message payload.

[0038] In step S3044, in response to the message format being the UU format, the transceiver processing module sends the message to be processed to the UU message processing module, and the UU message processing module parses the message to be processed to obtain the message payload.

[0039] In some embodiments, the message processing module includes the PC5 message processing module and / or the UU message processing module.

[0040] In some embodiments, by embedding the PC5 message processing module and / or the UU message processing module, the PC5 message processing module and the UU message processing module can operate independently. That is, the PC5 message processing module receives and parses messages in the corresponding PC5 format, and the UU message processing module receives and parses messages in the corresponding UU format, avoiding the complexity and inefficiency of unified processing. Furthermore, it allows for the simultaneous processing of messages of different formats, improving processing speed.

[0041] In some embodiments, the data packets include user plane data packets and control plane data packets.

[0042] In some embodiments, step S302 may include at least one of the following steps:

[0043] Step S3022: The baseband processor BP receives the user plane data packets sent by the computing power base station and sends the user plane data packets to the user plane transceiver processing module. The user plane transceiver processing module parses the user plane data packets to obtain the message to be processed and the message format of the message to be processed.

[0044] Step S3024: Receive control plane data packets sent by the core network through the Virtual Infrastructure Network (VIN), and send the control plane data packets to the control plane transceiver processing module through the baseband processor. The control plane transceiver processing module parses the control plane data packets to obtain the message to be processed and its message format.

[0045] In some embodiments, the transceiver processing module includes the user plane transceiver processing module and / or the control plane transceiver processing module.

[0046] In some embodiments, the baseband processor carries the wireless communication protocol stack and is a purely hardware implementation module. For example, it can carry a 3GPP-compliant underlying protocol stack. Its operating system (OS) is typically a closed real-time operating system (RTOS).

[0047] In some embodiments, the virtual infrastructure network is a purely hardware implementation module.

[0048] In this embodiment, the baseband processing and the computing base station communicate via the A8 interface. The virtual infrastructure network and the core network communicate via the N5 / N33 interface.

[0049] In some embodiments, the transceiver processing module can process user plane data packets and control plane data packets in parallel to obtain the message to be processed and the message format of the message to be processed, thereby improving the processing speed.

[0050] In some embodiments, the vehicle terminal includes a Cortex-M processor and an application processor, wherein the Cortex-M processor and the application processor are connected via an inter-core hardware channel, and the method further includes:

[0051] The transceiver processing module transmits the message to be processed to the message processing module through the inter-core hardware channel.

[0052] In this embodiment, the transceiver processing module is located in the Cortex-M processor, and the message processing module is located in the application processor.

[0053] In some embodiments, the aforementioned fusion processing module and V2X protocol stack module may be located in the application processor.

[0054] In some embodiments, the application processor may be running embedded Linux, which has powerful computing capabilities.

[0055] In some embodiments, the RTOS can be optimized for the Cortex-M processor to provide features such as low-latency terminal processing capabilities, fast task switching, and real-time communication.

[0056] In some embodiments, the application processor can utilize the computing power of the Cortex-M processor to perform operations, thereby avoiding abnormal interruptions due to OS scheduling. Transmitting UU / PC5 messages via the Cortex-M processor offers faster data transmission compared to the UU channel, and can further improve the data transmission speed of PC5.

[0057] In one exemplary embodiment, the transceiver processing module's transceiver processing operations can be executed within the Cortex-M processor's RTOS. Furthermore, the message to be processed can be transmitted to the message processing module via the inter-core hardware channel between the Cortex-M processor and the application processor, thereby ensuring real-time performance, i.e., within the RTOS's task scheduling parameters (20ms). A high real-time, low-latency processing mechanism is implemented in a general-purpose non-real-time OS, with a one-way end-to-end latency within 30ms, solving the high latency problem of UU channel data transmission. The transceiver processing operations may include at least one of the following: receiving user plane data packets and control plane data packets, sending user plane data packets and control plane data packets, and parsing user plane data packets and control plane data packets.

[0058] In another exemplary embodiment, the message processing operation of the message processing module can be executed in the RTOS of the Cortex-M processor. Message processing is performed using the Cortex-M processor, improving message processing efficiency. The message processing operation may include at least one of the following: receiving a message to be processed and its format, sending a message to be processed and its format, and parsing the message to be processed. The format of the message to be processed includes PC5 format and UU format.

[0059] In some embodiments, the results output by each processing module can be stored in the Trusted Execution Environment (TEE) area of ​​the application processor to avoid loss of results due to abnormal power outages and to ensure that the processing and output results of each processing module are stable and reliable.

[0060] In some embodiments, after performing step S304, the method further includes:

[0061] Step S305: Classify the messages to be processed and determine the message payload in the messages to be processed.

[0062] In some embodiments, step S305 may include the following steps:

[0063] Step S3052: Classify the messages to be processed and determine whether the message payload in the messages to be processed is control data or user data.

[0064] Step S3054: In response to the message payload being the control data, the message payload is sent to the control plane processing module;

[0065] Step S3056: In response to the message payload being the user data, the message payload is sent to the fusion processing module.

[0066] In some embodiments, the PC5 message processing module classifies messages to be processed that are in PC5 format and determines whether the message payload in the message to be processed is control data or user data.

[0067] In some embodiments, the UU message processing module classifies messages in UU format to be processed and determines whether the payload in the message to be processed is control data or user data.

[0068] In some embodiments, the message payload sent to the fusion processing module includes the message payload of user data output by the PC5 message processing module and / or the message payload of user data output by the UU message processing module.

[0069] In some embodiments, the message payload sent to the control plane processing module includes the message payload of control data output by the PC5 message processing module and / or the message payload of control data output by the UU message processing module.

[0070] In some embodiments, the fusion processing module may be located in the application processor.

[0071] In some embodiments, step S306 may include the following steps:

[0072] Step S3062: In the fusion processing module, the multiple data units are extracted from the message payload according to the types of multiple data units preset in the V2X protocol.

[0073] Step S3064: Concatenate the plurality of data units according to the preset data item format in the V2X protocol to obtain the data item, wherein the data item includes a plurality of data units of different types.

[0074] In this embodiment, the fusion processing module achieves data item splicing by aggregating the differences in data units in the payloads of the two message formats.

[0075] In some embodiments, the data item type includes at least one of the following: Basic Safety Message (BSM), Roadside Information (RSI), Roadside Safety Message (RSM), Traffic Light Phase and Timing Message (SPAT), Map Message (MAP), and other preset message types. Among these, Basic Safety Message (BSM), Roadside Information (RSI), Roadside Safety Message (RSM), Traffic Light Phase and Timing Message (SPAT), and Map Message (MAP) satisfy the five message types defined by the CV2X standard. For example, the BSM message is sent at a frequency of 10 Hz, i.e., one packet is sent every 100 milliseconds.

[0076] In some embodiments, the RSI / MAP messages adopt the definition of the "CSAE 157-2020 Cooperative Intelligent Transportation System Vehicle Communication System Application Layer and Application Data Interaction Standard (Phase II)" standard, and the RSM / SPAT / BSM messages adopt the definition of the "CSAE53-2020 Cooperative Intelligent Transportation System Vehicle Communication System Application Layer and Application Data Interaction Standard (Phase I)" standard.

[0077] In some embodiments, data items are defined using the Abstract Syntax Notation One (ASN.1) standard, following a nested logic of "data frame - data item - data unit". The data frame is the basic unit for sending and receiving application layer data packets; different types of messages are represented by different data frames. A data frame consists of a data item type ID and a data item, with the data item packaging various specific contents.

[0078] In some embodiments, data units have specific practical meanings and are components of data items. There are nearly 100 common data units, including at least one of the following: DE_AccelerationSet4Way: Defines the vehicle's four-axis acceleration. DE_BrakeSystemStatus: Defines the vehicle's braking system status. DE_ConnectingLane: Used to locate the downstream lane connecting to the upstream lane. DE Lane: Defines the lane.

[0079] In some embodiments, the preset data item format may include, but is not limited to, encapsulation via the following protocols: JavaScript Object Notation (JSON), Message Queuing Telemetry Transport (MQTT), and User Datagram Protocol (UDP). Regardless of the data format used, it must conform to the CV2X standard.

[0080] In one exemplary embodiment, the different types of data items encapsulated via the MQTT protocol correspond to the contents in Table 1 below:

[0081] Table 1

[0082] Data item type MQTT RSI <Project Name> / <Environment Name> / cpub / rsi / <Device ID> RSM <Project Name> / <Environment Name> / cpub / rsm / <Device ID> SPAT <Project Name> / <Environment Name> / cpub / spat / <Device ID> MAP <Project Name> / <Environment Name> / cpub / map / <Device ID> BSM <Project Name> / <Environment Name> / epub / bsm / <Device ID> Preset data item types

[0083] In one exemplary embodiment, the MQTT data item format includes a fixed header, a variable header, and data items. Figure 4 This is a schematic diagram of the MQTT data item format according to an embodiment of this application, such as... Figure 4As shown, the fixed header consists of one byte. Bits 7-4 of the first byte represent the protocol type, and bits 3-0 are flag bits. Bits 7-4 of the first byte can represent 16 numbers; excluding 0 and 15, the remaining 14 numbers each represent a protocol type. Bits 3-0 of the first byte, when reserved, must be transmitted with fixed values ​​according to the MQTT protocol. Other bits are transmitted according to their defined meanings (special attention needs to be paid to the Data Upload Protocol (DUP) and Quality of Service (QoS) during publishing; this application does not retain copies of published messages, messages are sent only once, and there is no need to retain push messages). The second byte indicates the remaining length (including the variable header and data items). The remaining length represents the number of bytes remaining in the current message, including the variable header and data items, but does not include the bytes used to encode the remaining length field itself. The remaining length field uses a variable-length encoding scheme, with a minimum of 1 byte and a maximum of 4 bytes. In each byte, the 7th bit is used to encode data, and the highest bit is 0 or 1 to indicate whether there are more bytes to represent.

[0084] In some embodiments, the data item is the third part of the MQTT data item format, including four messages: CONNECT, SUBSCRIBE, SUBACK (acknowledgment of acceptance of subscription request), and UNSUBSCRIBE (unsubscribe from a specific topic). Specifically, (1) the CONNECT message mainly contains the client's client ID, the subscribed topic, information, username, and password. (2) the SUBSCRIBE message mainly contains a list of topics to be subscribed to and their QoS. (3) the SUBACK message mainly contains the server's confirmation and response regarding the topics and QoS requested in (2). (4) the UNSUBSCRIBE message mainly contains the unsubscription of the topic to be subscribed to.

[0085] The common approach uses a modem to directly read and write PC5-related messages, but this requires selecting a chip that supports PC5. This application's embodiment avoids directly reading and writing air interface messages using a modem. Instead, it receives the message payload from either the UU message processing module or the PC5 message processing module through a fusion processing module, and then performs fusion processing on the message payload. This ensures that both PC5 and UU format messages can be processed, achieving CV2X standard support for either PC5 or UU messages without requiring a chip that supports PC5.

[0086] In some embodiments, before performing step S308, the method further includes:

[0087] Step S307: Obtain the time and location information of the vehicle terminal through the Global Navigation Satellite System.

[0088] In some embodiments, the Global Navigation Satellite System (GNSS) is used to carry the time and location information of the vehicle terminal and is a purely hardware-based module. After receiving the time and location information of the vehicle terminal from the GNSS chip, it latches it internally. In response to a request from the application processor to obtain the time and location information of the vehicle terminal, it sends the latched data to the application processor.

[0089] In some embodiments, step S308 may further include the following steps:

[0090] Step S3082: The time information, the location information, and the data items are encapsulated by the V2X protocol stack module to obtain multiple V2X messages.

[0091] In some embodiments, the V2X protocol stack module encapsulates data items according to the format defined in the above standard.

[0092] In some embodiments, after performing step S308, the following steps may also be performed:

[0093] Step S310: Send the V2X message to other vehicle terminals, roadside equipment, or base stations.

[0094] In some embodiments, the baseband processor can also compare the V2X messages obtained by the V2X protocol stack module with the CV2X standard. If they conform to the CV2X standard, the V2X messages obtained by the V2X protocol stack module are deemed valid and can be sent out.

[0095] Embodiments of this application also provide a vehicle terminal. Figure 5 This is a structural block diagram of a vehicle terminal according to an embodiment of this application, such as... Figure 5 As shown, the terminal includes the following structure: transceiver processing module 502, message processing module 504, fusion processing module 506, and V2X protocol stack module 508.

[0096] The transceiver processing module 502 is used to receive and parse data packets to obtain the message to be processed and the message format of the message to be processed;

[0097] The message processing module 504 is used to parse the message to be processed in the corresponding message format to obtain the message payload;

[0098] The fusion processing module 506 is used to extract data items related to the vehicle-to-everything (V2X) protocol from the message payload;

[0099] V2X protocol stack module 508 is used to encapsulate the data items to obtain V2X messages.

[0100] Through the embodiments described above in this application, by using the message processing module to parse the message and the fusion processing module to extract V2X protocol data items, the message format and data items can be decoupled. The extracted data items are then encapsulated by the CV2X protocol module to obtain the V2X message, ensuring that the final communication method conforms to the message transmission and reception requirements defined by the CV2X standard. Therefore, the problems of high hardware cost and high system coupling can be solved, achieving the effects of reducing hardware cost and system coupling.

[0101] Through the above embodiments of this application, those skilled in the art can understand the transceiver processing module, message processing module, converged processing module, and V2X protocol stack module as components of converged communication software components. The converged communication software components process the received information (i.e., the processing part of the system) to ensure that the output V2X messages meet the requirements of the CV2X standard.

[0102] Figure 6 This is a flowchart illustrating how a converged communication software component processes data packets to obtain V2X messages in one embodiment of this application. Figure 6 As shown, the converged communication software components include six modules: control plane transceiver processing module, user plane transceiver processing module, PC5 message processing module, UU message processing module, converged processing module, and V2X protocol stack module.

[0103] Control plane transceiver processing module: Located on the Cortex-M processor. It receives control plane data packets from the baseband processor, parses them to obtain the message to be processed and its message format, and sends the message to be processed to the PC5 message processing module or the UU message processing module according to the message format.

[0104] User plane transceiver processing module: Located on the Cortex-M processor. It receives user plane data packets from the baseband processor, parses them to obtain the message to be processed and its message format, and sends the message to be processed to the PC5 message processing module or the UU message processing module according to the message format.

[0105] In some embodiments, when the transceiver processing module receives a data packet forwarded from the baseband processor, it triggers an interrupt in the communication convergence software component. This means that the transceiver processing module needs to process the data packet, including receiving, storing, and forwarding operations. After parsing, the packet is sent to the UU message processing module or the PC5 message processing module according to the message format.

[0106] PC5 Message Processing Module: Located in the application processor. It is responsible for processing PC5 format messages. After data packets from the core network and computing base stations arrive at the application processor, the control plane transceiver processing module and the user plane transceiver processing module first perform reception, forwarding, and parsing operations. This module receives the PC5 format messages from the transceiver processing module, parses and classifies the messages, and sends the payload of control data to the control plane processing module and the payload of user data to the fusion processing module.

[0107] UU Message Processing Module: Located in the application processor. It is responsible for processing UU message format packets. After data packets from the core network and computing base stations arrive at the application processor, the control plane transceiver processing module and the user plane transceiver processing module first perform reception, forwarding, and parsing operations. This module receives the UU format packets from the transceiver processing module, parses and classifies the packets, and sends the payload of control data to the control plane processing module and the payload of user data to the fusion processing module.

[0108] Fusion Processing Module: Located in the application processor. Responsible for extracting data items related to the V2X (Vehicle-to-Everything) protocol from the message payload.

[0109] V2X Protocol Stack Module: Located in the application processor. It is responsible for encapsulating time and location information obtained from the vehicle terminal via the Global Navigation Satellite System, as well as data items received from the fusion processing module.

[0110] Through the above embodiments of this application, those skilled in the art can understand the application processor, baseband processor, virtual infrastructure network, and global navigation satellite system as components of the converged communication hardware component. Since the application processor can utilize the computing power of the Cortex-M processor, and the transceiver processing module is located on the Cortex-M processor, the Cortex-M processor can be considered part of the application processor. The converged communication hardware component sends two external hardware information streams (user plane data packets sent from the computing base station and control plane data packets sent from the core network) to the baseband processor and virtual infrastructure network, respectively. This allows the converged communication software component to use the output of the converged communication hardware component as its own input and process it in conjunction with its own software modules, ensuring that the final V2X message conforms to the CV2X standard requirements.

[0111] Figure 7 This is a schematic diagram of the process of receiving and sending data using a fused hardware component in one embodiment of this application, as shown below. Figure 7 As shown, the converged communication hardware components include a control application processor, a Cortex-M processor, a baseband processor, a virtual infrastructure network, and a global navigation satellite system.

[0112] Application processor: The hardware that houses the various components of the converged communication software. It typically uses an embedded Linux operating system and boasts powerful computing capabilities. This hardware receives time and location information from the vehicle terminal via a Universal Asynchronous Receiver / Transmitter (UART) from external global navigation satellite hardware. After receiving data packets forwarded by the baseband processor and processing them internally within the converged communication software components (i.e., the receiving, sending, and processing processes described above), it sends CV2X-compliant messages to the baseband processor via the internal bus.

[0113] Cortex-M processor: The application processor and the Cortex-M processor are connected via an inter-core hardware channel.

[0114] Baseband processor: Used to carry the wireless communication protocol stack. For example, it can carry relevant 3GPP-compliant underlying protocol stacks. Its operating system (OS) is typically a closed real-time operating system (RTOS). This hardware receives encapsulated V2X messages from the application processor and compares them with the CV2X standard. If they match, the fusion processing is deemed valid, and the messages can be sent externally via the PC5 or UU channel.

[0115] Virtual Infrastructure Network (VIB): Used to carry control plane data packets sent by the core network. It receives control plane data packets from the core network and forwards them to the baseband processor. In some embodiments, the VIB can also receive control data payloads sent by the control plane module through the baseband processor and send them to the core network.

[0116] Global Navigation Satellite System (GNSS): Used to carry time and location messages for vehicle terminals. After receiving the time and location information from the vehicle terminal from the GNSS chip, the system latches it internally. In response to a request from the application processor to retrieve the vehicle terminal's time and location information, it sends the latched data to the application processor.

[0117] In this embodiment, the baseband processing and the computing base station communicate via the A8 interface. The virtual infrastructure network and the core network communicate via the N5 / N33 interface.

[0118] Those skilled in the art will understand that the embodiments of this application can fully implement data transmission and reception services compliant with the CV2X standard by combining converged communication hardware components and converged communication software components. The connection between the two is that the former is the information input part of the overall solution, a physical entity unit, which, exemplarily, can be a hardware component supporting PC5 or UU; the latter is the software component that implements converged communication processing, the information processing part of the overall solution. The two work together to achieve a converged communication system based on PC5 or UU hardware but meeting CV2X service requirements. In fact, since the above-mentioned converged communication processing is all implemented through software, it facilitates subsequent service iteration updates and reuse.

[0119] Figure 8 This is a schematic diagram illustrating the process by which a converged communication software component processes data packets received from a converged communication hardware component to obtain V2X information, as shown in one embodiment of this application. Figure 8 As shown, the process includes the following steps:

[0120] In step S802A, the control plane transceiver processing module receives control plane data packets sent by the core network, parses and filters them, and then sends the unprocessed packets in PC5 format or UU format to the PC5 packet processing module or the UU packet processing module, respectively.

[0121] In step S802B, the user plane transceiver processing module receives the user plane data packets sent by the computing power base station, and after parsing, filtering and distinguishing them, sends the unprocessed packets with the message format of PC5 or the unprocessed packets with the message format of UU to the PC5 message processing module or the UU message processing module respectively.

[0122] In step S804, the PC5 message processing module or the UU message processing module parses and processes the PC5 format message and the UU format message respectively to obtain the message payload as user data or the message payload as control data.

[0123] In step S806, the PC5 message processing module or the UU message processing module respectively sends the message payload of user data to the fusion processing module;

[0124] Step S808: The fusion processing module extracts relevant data items according to the CV2X protocol standard;

[0125] Step S 810: The fusion processing module sends the relevant data items to the V2X protocol stack module;

[0126] In step S812, after receiving the data items sent by the fusion processing module, the V2X protocol stack module encapsulates them into V2X messages according to the CV2X standard.

[0127] Through the embodiments described above in this application, by using the message processing module to parse the message and the fusion processing module to extract V2X protocol data items, the message format and data items can be decoupled. The extracted data items are then encapsulated by the CV2X protocol module to obtain the V2X message, ensuring that the final communication method conforms to the message transmission and reception requirements defined by the CV2X standard. Therefore, the problems of high hardware cost and high system coupling can be solved, achieving the effects of reducing hardware cost and system coupling.

[0128] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps in any of the above method embodiments.

[0129] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0130] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0131] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0132] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0133] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A cellular vehicle-to-everything (CV2X) communication method, characterized in that, Applied to a vehicle terminal, the method includes: The transceiver processing module receives and parses data packets to obtain the message to be processed and the message format of the message to be processed. The message to be processed is parsed by the message processing module corresponding to the message format to obtain the message payload; The fusion processing module extracts data items related to the V2X protocol from the message payload; The data items are encapsulated by the V2X protocol stack module to obtain a V2X message.

2. The method according to claim 1, characterized in that, The message formats include PC5 format and UU format.

3. The method according to claim 2, characterized in that, The step of parsing the message to be processed by the message processing module corresponding to the message format to obtain the message payload includes: In response to the message format being the PC5 format, the transceiver processing module sends the message to be processed to the PC5 message processing module, and the PC5 message processing module parses the message to be processed to obtain the message payload; and / or, In response to the message format being the UU format, the transceiver processing module sends the message to be processed to the UU message processing module, and the UU message processing module parses the message to be processed to obtain the message payload. The message processing module includes the PC5 message processing module and / or the UU message processing module.

4. The method according to claim 1, characterized in that, The data packets include user plane data packets and control plane data packets.

5. The method according to claim 4, characterized in that, The step of receiving and parsing data packets through the transceiver processing module to obtain the message to be processed and the message format of the message to be processed includes: The baseband processor (BP) receives user plane data packets sent by the computing power base station and sends these data packets to the user plane transceiver processing module. The user plane transceiver processing module then parses the user plane data packets to obtain the message to be processed and its message format; and / or, The system receives control plane data packets sent by the core network through the Virtual Infrastructure Network (VIN), and sends the control plane data packets to the control plane transceiver processing module through the baseband processor. The control plane transceiver processing module parses the control plane data packets to obtain the message to be processed and the message format of the message to be processed. The transceiver processing module includes the user plane transceiver processing module and / or the control plane transceiver processing module.

6. The method according to claim 1, characterized in that, The vehicle terminal includes a Cortex-M processor and an application processor, wherein the Cortex-M processor and the application processor are connected via an inter-core hardware channel, and the method further includes: The transceiver processing module transmits the message to be processed to the message processing module through the inter-core hardware channel. The transceiver processing module is located in the Cortex-M processor, and the message processing module is located in the application processor.

7. The method according to claim 1, characterized in that, After parsing the message to be processed by the message processing module corresponding to the message format to obtain the message payload, the method further includes: The messages to be processed are classified to determine whether the message payload in the messages to be processed is control data or user data. In response to the message payload being the control data, the message payload is sent to the control plane processing module; or, In response to the message payload being the user data, the message payload is sent to the fusion processing module.

8. The method according to claim 1, characterized in that, The extraction of data items related to the V2X protocol from the message payload by the fusion processing module includes: In the fusion processing module, the multiple data units are extracted from the message payload according to the types of multiple data units preset in the V2X protocol; The multiple data units are concatenated according to the preset data item format in the V2X protocol to obtain the data item, wherein the data item includes multiple data units of different types.

9. The method according to claim 8, characterized in that, The data items include at least one of the following types: Basic Safety Message (BSM), Roadside Information (RSI), Roadside Safety Message (RSM), Traffic Light Phase and Timing Message (SPAT), Map Message (MAP), and other preset message types.

10. The method according to claim 1, characterized in that, Before encapsulating the data item through the V2X protocol stack module to obtain the V2X message, the method further includes: The vehicle terminal's time and location information are obtained through the Global Navigation Satellite System.

11. The method according to claim 10, characterized in that, The process of encapsulating the data item through the V2X protocol stack module to obtain a V2X message includes: The time information, location information, and data items are encapsulated by the V2X protocol stack module to obtain multiple V2X messages.

12. The method according to claim 1, characterized in that, The method further includes: The V2X message is sent to other vehicle terminals, roadside equipment, or base stations.

13. A vehicle terminal, characterized in that, include: The transceiver processing module is used to receive and parse data packets to obtain the message to be processed and the message format of the message to be processed; The message processing module is used to parse the message to be processed according to the corresponding message format to obtain the message payload; The fusion processing module is used to extract data items related to the V2X protocol from the message payload; The V2X protocol stack module is used to encapsulate the data items and obtain V2X messages.

14. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 12.

15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 12.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1 to 12.

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